diff --git a/gtsam.h b/gtsam.h index 9e5fa42ce..d8b92d130 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1316,6 +1316,20 @@ class GaussianSequentialSolver { Matrix marginalCovariance(size_t j) const; }; +#include +class GaussianMultifrontalSolver { + //Constructors + GaussianMultifrontalSolver(const gtsam::GaussianFactorGraph& graph, + bool useQR); + + //Standard Interface + void replaceFactors(const gtsam::GaussianFactorGraph* factorGraph); + gtsam::GaussianBayesTree* eliminate() const; + gtsam::VectorValues* optimize() const; + gtsam::GaussianFactor* marginalFactor(size_t j) const; + Matrix marginalCovariance(size_t j) const; +}; + #include virtual class IterativeOptimizationParameters { string getKernel() const ;